public void FindPath(PathRequest request, Action <PathResult> callback)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
ANode startNode = grid.GetNodeFromWorldPoint(request.pathStart);
ANode targetNode = grid.GetNodeFromWorldPoint(request.pathEnd);
if (startNode.walkable && targetNode.walkable)
{
List <ANode> openSet = new List <ANode>();
HashSet <ANode> closedSet = new HashSet <ANode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
ANode currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].fCost < currentNode.fCost || openSet[i].fCost == currentNode.fCost && openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
sw.Stop();
print("Path Found : " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (ANode neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback));
}
// Get the shortest* path from a start position to a target position.
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos, float unitIntel)
{
//Stopwatch sw = new Stopwatch();
//sw.Start();
print("PLAYER MOVEMENT PATH: Calculating the correct path now.");
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
// Get the node on which the start and target world positions are.
Node startNode = aGrid.NodeFromWorldPoint(startPos);
Node targetNode = aGrid.NodeFromWorldPoint(targetPos);
//print("MOVEMENT PATH: Is my start node walkable? " + startNode.walkable);
print("PLAYER MOVEMENT PATH: targetNode world position: " + targetNode.worldPos);
print("PLAYER MOVEMENT PATH: targetNode X/Y grid position: " + targetNode.gridX + "/" + targetNode.gridY);
print("PLAYER MOVEMENT PATH: Is my target node walkable? " + targetNode.walkable);
if (/* startNode.walkable && */ targetNode.walkable)
{
Heap <Node> openSet = new Heap <Node>(aGrid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
//sw.Stop();
//print ("Path Found: " + sw.ElapsedMilliseconds + "ms");
pathSuccess = true;
break;
}
foreach (Node neighbour in aGrid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + Mathf.RoundToInt(neighbour.movementPenalty * unitIntel);
//print(Mathf.RoundToInt(neighbour.movementPenalty * unitIntel));
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProcessingPath(waypoints, pathSuccess);
//print("FindPath; pathSuccess: "+pathSuccess);
}